A rotating motion assembly for a humanoid robot

Abstract

The application provides a rotating motion assembly for a humanoid robot, and relates to the technical field of humanoid robots, and comprises a shell one and a shell two, the shell one and the shell two are connected, a plurality of sets of humanoid robot fixing devices are arranged in the shell one, and a rotating motion device is arranged in the shell two. The rotating motion device is arranged, which is beneficial to the rotation of the humanoid robot, and a plurality of sets of humanoid robot fixing devices are arranged, which effectively fix the humanoid robot. Thus, the technical problem that the existing rotating motion system for the humanoid robot is generally provided with rollers at the bottom of the feet, then the humanoid robot is moved, the rotating motion assembly adopts a simple motor driving and mechanical transmission structure, and the humanoid robot is prone to falling or turning over, thereby causing harm to people or things around is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid robots, in particular to a rotating motion assembly for a humanoid robot. BACKGROUND

[0002] With the rapid development of artificial intelligence and robot technology, humanoid robots are increasingly used in industries, services, medical care and other fields. In order to achieve high simulation and precise motion control, each joint and component of the humanoid robot needs to have flexible and stable rotating motion capability.

[0003] However, the existing rotating motion system for humanoid robots generally sets up rollers at the bottom of the feet and then moves. Such rotating motion assemblies adopt simple motor driving and mechanical transmission structure, which is easy to cause the humanoid robot to tip over or roll over, thereby causing harm to people or things around. Therefore, in view of the above status, it is urgent to develop a rotating motion assembly for a humanoid robot to overcome the deficiencies in current actual applications. SUMMARY

[0004] The present application provides a rotating motion assembly for a humanoid robot to solve the technical problem that the existing rotating motion system for humanoid robots generally sets up rollers at the bottom of the feet and then moves. Such rotating motion assemblies adopt simple motor driving and mechanical transmission structure, which is easy to cause the humanoid robot to tip over or roll over, thereby causing harm to people or things around.

[0005] To solve the above technical problems, the present application discloses a rotating motion assembly for a humanoid robot, comprising: a shell one and a shell two, the shell one and the shell two are connected, and a plurality of sets of humanoid robot fixing devices are arranged in the shell one, and a rotating motion device is arranged in the shell two.

[0006] Preferably, the rotating motion device comprises: a driving motor one, the driving motor one is fixedly installed on the inner wall of the bottom end of the shell two, and one end of a rotating shaft one is fixedly installed on the output shaft of the driving motor one, the other end of the rotating shaft one is rotatably connected to a rectangular block, the rectangular block is fixedly installed on the inner wall of the bottom end of the shell two, two sets of rotating motion mechanisms are symmetrically arranged on the front and rear ends of the rotating shaft one, and a plurality of limiting blocks one are rotatably connected to the rotating shaft one.

[0007] Preferably, the rotating mechanism comprises: a bevel gear one, the bevel gear one is fixedly installed on the rotating shaft one, the bevel gear one is meshed with the bevel gear two, the bevel gear two is fixedly installed on the rotating shaft two, the rotating shaft two is fixedly connected with the moving wheel through the limiting rod two at both ends, the limiting rod two is fixedly installed on the inner wall of the bottom end of the shell two, and the moving wheel is in contact with the ground through the shell two.

[0008] Preferably, the humanoid robot fixing device comprises: a bidirectional drive motor, the bidirectional drive motor is fixedly installed on the top end of the cavity one in the shell one, and the top end output end of the bidirectional drive motor is fixedly connected with the winding wheel, one end of the connecting rope one is fixedly installed on the winding wheel, the other end of the connecting rope is fixedly connected with the bottom end of the fixed block one through the pulley and penetrating the adjusting box, the pulley is rotatably connected to the connecting rod one end, the connecting rod other end penetrates the adjusting box and is connected with the fixed block two, the bottom end of the fixed block two is fixedly installed on the bottom end of the cavity two, the top end of the adjusting box is fixedly installed on the top end of the cavity two, the fixed block one is fixedly installed on the supporting rod one, the supporting rod one is slidingly connected to the adjusting box, and two groups of fixing mechanisms are movably connected to the ends of the supporting rod one.

[0009] Preferably, the fixing mechanism comprises: a supporting rod two, one end of the supporting rod two is movably connected with the supporting rod one, the other end of the supporting rod two is movably connected with the moving plate one side, a reset spring is fixedly installed between the other end of the moving plate and the cavity two, the bottom end of the moving plate is slidingly connected to the inner wall of the cavity two, the top end of the moving plate is fixedly connected with the clamping block through the through hole one provided in the top end of the shell one, and the clamping block is matched with the mounting hole provided at the bottom end of the humanoid robot.

[0010] Preferably, the shell one is provided with two groups of ground fixing mechanisms, the ground fixing mechanism comprises: a belt assembly, the belt assembly is connected with two groups of threaded rods through the bidirectional drive motor, the top end of the threaded rod is rotatably connected to the inner wall of the cavity one, the bottom end of the threaded rod is threadedly rotatably connected in the sleeve, the sleeve is fixedly connected with the fixed support through the through hole two provided in the bottom end of the shell two, and the fixed support is in contact with the ground.

[0011] Preferably, the rotating motion assembly for the humanoid robot further comprises: an encoder, the encoder is installed on the bottom end of the shell one, the detection shaft of the encoder is coaxially connected with the rotating shaft one, and a control module is connected with the drive motor one and the encoder.

[0012] Preferably, the drive motor one is a double-stator starting generator, and the rotating motion assembly further comprises:

[0013] A first Hall effect sensor is used to detect the actual outer air gap magnetic flux density fundamental peak value of the double-stator starting generator.

[0014] a second Hall effect sensor for detecting the actual inner air-gap magnetic flux density fundamental peak value of the double-stator starter generator;

[0015] a controller, an alarm, the controller being electrically connected with the first Hall effect sensor, the second Hall effect sensor and the alarm.

[0016] Preferably, the controller controls the alarm to work based on the first Hall effect sensor and the second Hall effect sensor, comprising the following steps:

[0017] Step 1: calculating the actual power generation efficiency of the double-stator starter generator according to formula (1) and the detection value of the first Hall effect sensor :

[0018] (1);

[0019] wherein is the inner stator power of the double-stator starter generator, is the outer stator power of the double-stator starter generator, is the outer stator armature winding coefficient of the double-stator starter generator, is the outer stator armature winding coefficient, is the inner armature axial length of the double-stator starter generator, is the detection value of the first Hall effect sensor, is the outer diameter of the inner stator of the double-stator starter generator, is the series turns per phase of the outer stator armature winding of the double-stator starter generator, is the outer stator electric load of the double-stator starter generator, is the outer diameter of the outer stator of the double-stator starter generator, the value is 3.14;

[0020] Step 2: calculating the actual relative magnetic permeability of the permanent magnet according to formula (2) and the detection value of the second Hall effect sensor , when the actual relative magnetic permeability of the permanent magnet is lower than the preset relative magnetic permeability, the controller controls the alarm to alarm;

[0021] (2);

[0022] wherein is the magnetic flux correction coefficient under the pole shoe of the double-stator starter generator, is the magnetic flux saturation coefficient, is the ratio of the magnetic flux of the permanent magnet to the residual magnetism, is the acceleration of gravity, is the no-load leakage magnetic coefficient of the double-stator starter generator, The permanent magnet magnetic flux density and residual magnetism ratio in the double-stator starter generator, The permanent magnet residual magnetism induction intensity, The second Hall effect sensor detection value.

[0023] Compared with the prior art, the beneficial effects of the present application are: the present application is provided with a rotating motion device, which is conducive to realizing the rotation of the humanoid robot, and a plurality of sets of humanoid robot fixing devices are provided, which effectively fix the humanoid robot. Thus, the technical problem of the prior art that the existing rotating motion system for the humanoid robot generally sets rollers at the bottom of the feet and then moves, which simple motor driving and mechanical transmission structure of the rotating motion assembly is easy to cause the humanoid robot to fall or roll over, thereby causing harm to the surrounding people or things is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 The rotating motion assembly structure schematic view provided by the embodiment of the present application;

[0026] Figure 2 The internal structure top view of the shell provided by the embodiment of the present application;

[0027] Figure 3 The internal structure sectional view of the shell provided by the embodiment of the present application;

[0028] Figure 4 The internal structure sectional view of the shell provided by the embodiment of the present application; Figure 3 The A point in the structure schematic view of the present application.

[0029] Reference signs:

[0030] 1. Housing 1; 2. Housing 2; 3. Drive motor 1; 4. Rotating shaft 1; 5. Rectangular block; 6. Bevel gear 1; 7. Bevel gear 2; 8. Rotating shaft 2; 9. Limiting rod 2; 10. Moving wheel; 11. Limiting block 1; 12. Bidirectional drive motor; 13. Cavity 1; 14. Winding wheel; 15. Connecting rope; 16. Pulley; 17. Fixing block 1; 18. Connecting rod; 19. Adjusting box; 20. Fixing block 2; 21. Cavity 2; 22. Support rod 1; 23. Support rod 2; 24. Moving plate; 25. Return spring; 26. Through hole 1; 27. Clamping block; 28. Mounting hole; 29. ​​Belt assembly; 30. Threaded rod; 31. Sleeve; 32. Through hole 2; 33. Fixed bracket. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0032] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0033] The present invention provides the following embodiments.

[0034] Example 1

[0035] This invention provides a rotary motion component for a humanoid robot, such as... Figure 1 As shown, it includes: a first shell 1 and a second shell 2, the first shell 1 and the second shell 2 are connected, and the first shell 1 is provided with a number of humanoid robot fixing devices, and the second shell 2 is provided with a rotational motion device.

[0036] The beneficial effects of the above technical solution are as follows: By setting up a rotating motion device, the present invention facilitates the rotation of the humanoid robot. Simultaneously, by setting up several sets of humanoid robot fixing devices, the humanoid robot is effectively fixed. This effectively improves upon the technical problem raised in the background art: existing rotating motion systems for humanoid robots generally use rollers on their feet for movement. Such rotating motion components employ simple motor drives and mechanical transmission structures, which easily cause the humanoid robot to tip over or roll over, thereby causing injury to surrounding people or objects.

[0037] Example 2

[0038] Based on Example 1, such as Figures 2-4 As shown, a rotary motion component for a humanoid robot includes a drive motor 3, which is fixedly mounted on the inner wall of the bottom end of a housing 2. One end of a rotating shaft 4 is fixedly mounted on the output shaft of the drive motor 3. The other end of the rotating shaft 4 is rotatably connected to a rectangular block 5. The bottom end of the rectangular block 5 is fixedly mounted on the inner wall of the bottom end of the housing 2. Two sets of rotary motion mechanisms are symmetrically arranged at the front and rear ends of the rotating shaft 4. Several limiting blocks 11 are rotatably connected to the rotating shaft 4.

[0039] Optionally, the rotary motion mechanism includes: a bevel gear 6, which is fixedly mounted on a rotating shaft 4, and meshes with a bevel gear 7. The bevel gear 7 is fixedly mounted on a rotating shaft 8. The left and right ends of the rotating shaft 8 are connected to a limiting rod 9 and a moving wheel 10. The bottom end of the limiting rod 9 is fixedly mounted on the inner wall of the bottom end of the housing 2. The bottom end of the moving wheel passes through the housing 2 and contacts the ground.

[0040] Optionally, the humanoid robot fixing device includes: a bidirectional drive motor 12, which is fixedly installed on the inner wall of the top of the cavity 13 within the housing 1, and the output end of the bidirectional drive motor 12 is fixedly connected to the winding wheel 14. One end of the connecting rope 15 is fixedly installed on the winding wheel 14, and the other end of the connecting rope 15 passes through the adjustment box 19 and is fixedly connected to the bottom end of the fixing block 17 via the pulley 16. The pulley 16 is rotatably connected to one end of the connecting rod 18, and the other end of the connecting rod 18 passes through the adjustment box 19 and is connected to the fixing block 20. The bottom end of the fixing block 20 is fixedly installed on the inner wall of the bottom of the cavity 21, the top end of the adjustment box 19 is fixedly installed on the inner wall of the top of the cavity 21, the fixing block 17 is fixedly installed on the support rod 22, and the support rod 22 is slidably connected to the adjustment box 19, and two sets of fixing mechanisms are movably connected to both ends of the support rod 22.

[0041] Optionally, the fixing mechanism comprises: a second supporting rod 23, one end of the second supporting rod 23 is movably connected with the first supporting rod 22, the other end of the second supporting rod 23 is movably connected with one side of a moving plate 24, a reset spring 25 is fixedly installed between the other end of the moving plate 24 and the cavity two 21, the bottom end of the moving plate 24 is slidably connected on the inner wall of the cavity two 21, the top end of the moving plate 24 penetrates through a through hole one 26 arranged at the top end of the shell one 1 and is fixedly connected with clamping blocks 27, the clamping blocks 27 are matched with mounting holes 28 arranged at the bottom end of the humanoid robot.

[0042] Optionally, two groups of ground fixing mechanisms are further arranged in the shell one 1, the ground fixing mechanism comprises: a belt assembly 29, the belt assembly 29 is connected with two groups of threaded rods 30 through the bidirectional driving motor 12, the top end of the threaded rod 30 is rotatably connected on the inner wall of the cavity one 13, the bottom end of the threaded rod 30 is threadedly rotatably connected in a sleeve 31, the sleeve 31 penetrates through a through hole two 32 arranged at the bottom end of the shell two 2 and is fixedly connected with a fixed support 33, the fixed support 33 is in contact with the ground.

[0043] Optionally, the rotating motion assembly for the humanoid robot further comprises: an encoder, the encoder is installed on the inner wall of the bottom end of the shell one 1, the detection shaft of the encoder is coaxially connected with the rotating shaft one 4, a control module, the control module is connected with the driving motor one and the encoder.

[0044] The working principle of the above technical scheme is as follows: when the rotating motion of the humanoid robot is needed, first, the humanoid robot is placed between the moving plates 24 arranged at the top end of the shell one 1, then the bidirectional driving motor 12 is started, the bidirectional driving motor 12 rotates to drive the winding wheel 14 to rotate, the winding wheel 14 rotates to drive the connecting rope 15 to wind, thereby driving the connecting rope 15 to move downward to drive the fixed block one 17 to move downward, the fixed block one 17 drives the first supporting rod 22 to move up and down in the adjusting box 19, the first supporting rod 22 moves downward to drive the second supporting rods 23 on both sides to move inward, the second supporting rods 23 move inward to drive the moving plates 24 on both sides to move inward, thereby moving the clamping blocks 27 to the mounting holes 28 arranged at the bottom end of the humanoid robot to clamp, at the same time, a plurality of fixed supports 33 fixed on the ground are driven to rotate by the bidirectional driving motor 12 to drive the belt assembly 29 to rotate, the threaded rods 30 rotate to drive the sleeves 31 threadedly connected therewith to move upward, thereby releasing the fixation on the ground, finally, the driving motor one 3 is started, the driving motor one 3 rotates to drive the rotating shaft one 4 to rotate, the rotating shaft one 4 rotates to drive the bevel gears one 6 fixedly connected therewith to rotate, the bevel gears one 6 rotate to drive the bevel gears two 7 meshed therewith to rotate, the bevel gears two 7 rotate the rotating shaft two 8 to rotate, the rotating shaft two 8 rotates to drive the moving wheels 10 fixedly connected therewith to rotate, thereby realizing the rotating motion of the humanoid robot.

[0045] The beneficial effects of the above technical solutions are: by arranging the driving motor 3, the rotation movement of the humanoid robot is facilitated; by arranging the limiting block 11 and the limiting rod 2, the rotation shaft 4 and the rotation shaft 8 are facilitated to be limited, so as to prevent the position deviation; by arranging the plurality of moving plates 24, the humanoid robot is effectively fixed; by arranging the clamping block 27 and the mounting hole 28, the humanoid robot is effectively clamped; by arranging the reset spring 25, the moving plate 24 is reset; by arranging the first supporting rod 22 and the second supporting rod 23, the left and right movement of the moving plate 24 is facilitated; by arranging the bidirectional driving motor 12, the humanoid robot is fixed and the ground is effectively supported; by arranging the sleeve 31 and the fixing bracket 33, the shell 2 is fixed, so as to prevent the humanoid robot from deviating, which is very convenient and practical.

[0046] Embodiment 3

[0047] On the basis of Embodiment 1 or 2, a rotation movement assembly for a humanoid robot, the driving motor 3 is a double-stator starting generator, further comprising:

[0048] a first Hall effect sensor for detecting the actual outer air gap magnetic flux density fundamental wave peak value of the double-stator starting generator;

[0049] a second Hall effect sensor for detecting the actual inner air gap magnetic flux density fundamental wave peak value of the double-stator starting generator;

[0050] a controller and an alarm, the controller is electrically connected with the first Hall effect sensor, the second Hall effect sensor and the alarm.

[0051] Preferably, the controller controls the alarm to work based on the first Hall effect sensor and the second Hall effect sensor, including the following steps:

[0052] Step 1: According to formula (1) and the detection value of the first Hall effect sensor, the actual power generation efficiency of the double-stator starting generator is calculated :

[0053] (1);

[0054] Wherein is the inner stator power of the double-stator starting generator, is the outer stator power of the double-stator starting generator, is the outer stator armature winding coefficient of the double-stator starting generator, is the outer stator armature winding coefficient (the value range is 0.13-0.46), The armature axial length in the double-stator starting generator, The first Hall effect sensor detection value, The outer diameter of the stator in the double-stator starting generator, The number of turns in series per phase of the outer stator armature winding of the double-stator starting generator, The electric load of the outer stator of the double-stator starting generator, The outer diameter of the outer stator of the double-stator starting generator, The value is 3.14;

[0055] Step 2: According to formula (2) and the second Hall effect sensor, the actual relative magnetic permeability of the permanent magnet is calculated When the actual relative magnetic permeability of the permanent magnet is lower than the preset relative magnetic permeability, the controller controls the alarm to alarm;

[0056] (2);

[0057] Wherein The magnetic flux correction coefficient under the pole shoe of the double-stator starting generator (the value range is 0.25-0.72), The magnetic density saturation coefficient (the value range is 0.45-0.66), The ratio of the magnetic density of the permanent magnet to the residual magnetism, The acceleration of gravity, The no-load leakage coefficient of the double-stator starting generator (the value range is 0.28-0.79), The ratio of the magnetic density of the permanent magnet to the residual magnetism in the double-stator starting generator, The residual magnetism induction intensity of the permanent magnet, The second Hall effect sensor detection value.

[0058] The beneficial effects of the above technical solutions are: the controller calculates the actual power generation efficiency of the double-stator starting generator based on the formula (1) and the first Hall effect sensor detection value, and comprehensively considers the stator power in the double-stator starting generator, The outer stator armature winding coefficient of the double-stator starting generator, the outer stator armature winding coefficient, the armature axial length in the double-stator starting generator, the outer diameter of the stator in the double-stator starting generator, the number of turns in series per phase of the outer stator armature winding of the double-stator starting generator, the electric load of the outer stator of the double-stator starting generator, and the outer diameter of the outer stator of the double-stator starting generator, so that the calculation result is more accurate and reliable;

[0059] Then according to the formula (2) and the second Hall effect sensor detection value, the double-stator starter generator pole shoe lower magnetic flux correction coefficient, the magnetic density saturation coefficient, the permanent magnet magnetic density and the remanence ratio, the gravity acceleration, the double-stator starter generator no-load leakage magnetic coefficient, the double-stator starter generator inner permanent magnet magnetic density and the remanence ratio, the permanent magnet remanence induction intensity, so that the calculation result is more accurate and reliable;

[0060] The controller controls the first Hall effect sensor and the second Hall effect sensor to work, and when the actual relative magnetic permeability of the permanent magnet is lower than the preset relative magnetic permeability, the controller controls the alarm to alarm, reminding the staff to timely overhaul the double-stator starter generator, thereby meeting the needs of users for the rotating motion assembly for the humanoid robot.

[0061] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A rotary motion assembly for a humanoid robot, characterized by, Include: The shell one (1) and the shell two (2), the shell one (1) and the shell two (2) are connected, and a plurality of humanoid robot fixing devices are arranged in the shell one (1), and a rotating motion device is arranged in the shell two (2); The rotating motion device comprises: a drive motor one (3) is fixedly installed on the inner wall of the bottom end of the shell two (2), and the output shaft of the drive motor one (3) is fixedly installed on one end of the rotating shaft one (4), the other end of the rotating shaft one (4) is rotatably connected to the rectangular block (5), the rectangular block (5) is fixedly installed on the inner wall of the bottom end of the shell two (2), and two groups of rotating motion mechanisms are symmetrically arranged on the rotating shaft one (4), and a plurality of limiting blocks one (11) are rotatably connected to the rotating shaft one (4); The rotating motion mechanism comprises: a bevel gear one (6) is fixedly installed on the rotating shaft one (4), the bevel gear one (6) is engagedly connected with a bevel gear two (7), the bevel gear two (7) is fixedly installed on the rotating shaft two (8), the rotating shaft two (8) is fixedly connected with the moving wheel (10) through the limiting rod two (9) on the left and right two ends, the limiting rod two (9) is fixedly installed on the inner wall of the bottom end of the shell two (2), and the moving wheel is in contact with the ground through the shell two (2) on the bottom end; The humanoid robot fixing device comprises: a bidirectional drive motor (12) is fixedly installed on the inner wall of the top end of the cavity one (13) in the shell one (1), and the top end output end of the bidirectional drive motor (12) is fixedly connected with the winding wheel (14), one end of the connecting rope (15) is fixedly installed on the winding wheel (14), the other end of the connecting rope (15) penetrates through the adjusting box (19) and is fixedly connected with the bottom end of the fixed block one (17) through the pulley (16), the pulley (16) is rotatably connected to one end of the connecting rod (18), the other end of the connecting rod (18) penetrates through the adjusting box (19) and is connected with the fixed block two (20), the bottom end of the fixed block two (20) is fixedly installed on the inner wall of the bottom end of the cavity two (21), the top end of the adjusting box (19) is fixedly installed on the inner wall of the top end of the cavity two (21), the fixed block one (17) is fixedly installed on the supporting rod one (22), the supporting rod one (22) is slidingly connected to the adjusting box (19), and two groups of fixing mechanisms are movably connected to the two ends of the supporting rod one (22); The fixing mechanism comprises: a supporting rod two (23) is movably connected to one end of the supporting rod one (22), the other end of the supporting rod two (23) is movably connected to one side of the moving plate (24), a return spring (25) is fixedly installed between the other end of the moving plate (24) and the cavity two (21), the bottom end of the moving plate (24) is slidingly connected to the inner wall of the cavity two (21), and the top end of the moving plate (24) penetrates through the through hole one (26) provided in the top end of the shell one (1) and is fixedly connected with the clamping block (27), the clamping block (27) is matched with the mounting hole (28) provided at the bottom end of the humanoid robot.

2. The rotational motion assembly for a humanoid robot according to claim 1, wherein, The shell one (1) is internally provided with two groups of ground fixing mechanisms, which comprise a belt assembly (29) connected with two groups of threaded rods (30) through a bidirectional driving motor (12), the top end of the threaded rod (30) is rotationally connected to the inner wall of the cavity one (13), the bottom end of the threaded rod (30) is threadedly rotationally connected to a sleeve (31), the sleeve (31) is fixedly connected with a fixing support (33) through a through hole two (32) provided at the bottom end of the shell two (2), and the fixing support (33) is in contact with the ground.

3. The rotational motion assembly for a humanoid robot according to claim 1, wherein Further comprising an encoder mounted on the bottom end inner wall of the shell one (1), a detection shaft of the encoder is coaxially connected with the rotating shaft one (4), a control module connected with the driving motor one and the encoder.

4. The rotational motion assembly for a humanoid robot of claim 1, wherein, The driving motor one (3) is a double-stator starting generator, further comprising: A first Hall effect sensor for detecting the actual outer air gap magnetic flux density fundamental wave peak value of the double-stator starting generator; A second Hall effect sensor for detecting the actual inner air gap magnetic flux density fundamental wave peak value of the double-stator starting generator; A controller and an alarm, the controller is electrically connected with the first Hall effect sensor, the second Hall effect sensor and the alarm.

5. The rotational motion assembly for a humanoid robot according to claim 4, wherein The controller controls the alarm to work based on the first Hall effect sensor and the second Hall effect sensor, including the following steps: Step 1: Calculate the actual power generation efficiency of the dual-stator starter generator according to formula (1) and the first Hall effect sensor detection value : （1）； wherein is the inner stator power of the dual stator starter-generator, is the outer stator power of the dual stator starter-generator, is the outer stator armature winding factor of the dual stator starter-generator, is the outer stator armature winding factor, is the inner armature axial length of the dual stator starter-generator, is the first hall effect sensor detection value, is the inner stator outer diameter of the dual stator starter-generator, is the outer stator armature winding turns per phase of the dual stator starter-generator, is the outer stator electrical load of the dual stator starter-generator, is the outer stator outer diameter of the dual stator starter-generator, is equal to 3.14; Step 2: Calculate the actual relative permeability of the permanent magnet according to formula (2) and the second Hall effect sensor detection value When the actual relative permeability of the permanent magnet is lower than the preset relative permeability, the controller controls the alarm to alarm. （2）； wherein is the lower magnetic flux correction factor of the double-stator starter generator pole shoe, is the magnetic density saturation coefficient, is the ratio of permanent magnet magnetic density to residual magnetism, is the acceleration of gravity, is the no-load leakage magnetic coefficient of the double-stator starter generator, is the ratio of permanent magnet magnetic density to residual magnetism in the double-stator starter generator, is the residual magnetism induction intensity of the permanent magnet, is the detection value of the second Hall effect sensor.

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